The goal of this study is to model human body correctly, according to the principles and the standards
used to calculate the humanoid parameters. The model is built by using VN software and then it was
implemented in Matlab Simulink, in order to bu
ild a control system for simulating the humanoid balance
during standing. Precise and robust balance was reached by using PID controller with parameters
optimized by using genetic algorithm (GA). The control performance was tested by applying external
disturbance to the humanoid, the results show that the humanoid can retrieve its balance effectively.
The purpose of this research is to develop geometric procedures to determine the optimal values for
parameters used for designing double-mass electromechanical subordinate system, by applying PID
regulator. The research methods in this study aim to
improve the dynamic characteristics and to have
the minimal limit of the oscillations in the system, and it is materialized by using the Multi-Dimensional
Optimal Parameters Method -that has been created in previous research .
